CN115213913A - Scorpion-shaped bionic robot for exploration - Google Patents

Scorpion-shaped bionic robot for exploration Download PDF

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Publication number
CN115213913A
CN115213913A CN202210783405.1A CN202210783405A CN115213913A CN 115213913 A CN115213913 A CN 115213913A CN 202210783405 A CN202210783405 A CN 202210783405A CN 115213913 A CN115213913 A CN 115213913A
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CN
China
Prior art keywords
scorpion
tail
double
steering engine
scorpion tail
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Pending
Application number
CN202210783405.1A
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Chinese (zh)
Inventor
刘对
黄强
宋士华
简子龙
张捷萱
晁小欢
范英剑
江训益
干灵辉
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Jiujiang University
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Jiujiang University
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Priority to CN202210783405.1A priority Critical patent/CN115213913A/en
Publication of CN115213913A publication Critical patent/CN115213913A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a scorpion-type bionic robot for exploration, which comprises a central trunk control mechanism, wherein a plurality of scorpion leg walking units are symmetrically arranged on two sides of the central trunk control mechanism, scorpion clamping units are symmetrically arranged on two sides of one end of the central trunk control mechanism, and a scorpion tail execution mechanism is arranged on the other end of the central trunk control mechanism. But real-time transmission image makes the people know the place ahead and the environmental conditions, keeps away the barrier. The tail part can rotate and spray water to extinguish the fire source. The gait algorithm adopts a triangle gait algorithm to walk stably, and the walking in the field can be realized.

Description

Scorpion-shaped bionic robot for exploration
Technical Field
The invention relates to the technical field of bionic robots, in particular to a scorpion-type bionic robot for exploration.
Background
With the development of science and technology, more and more control type robots replace human beings to go to areas with harsh environment, higher danger degree and difficult arrival of human beings to complete corresponding tasks.
The existing special operation robots mostly adopt a crawler-type moving mode, though the trafficability is greatly improved compared with a wheel-type moving mode, the existing special operation robots still have limitations, such as poor trafficability in the crawler-type moving mode under the conditions of large blocks of gravel, small space and large fluctuation; and the existing special robot is rigid when moving through the crawler belt and is difficult to move quickly and flexibly.
Most of fires in forests are caused by human beings throwing cigarette ends and setting off fireworks and crackers, and the existing robots are difficult to finish the tasks of walking in the field, detecting and extinguishing fire.
Disclosure of Invention
The invention provides a scorpion-type bionic robot for exploration, aiming at solving the technical problems that the moving operation proposed in the background technology is not flexible enough, and the tasks of walking in the field, detecting and extinguishing fire are difficult to be completed.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a scorpion type bionic robot for exploration, includes central truck control mechanism, central truck control mechanism's bilateral symmetry is equipped with a plurality of scorpion leg walking units, central truck control mechanism's one end bilateral symmetry is equipped with the scorpion clamp and gets the unit, central truck control mechanism's the other end is equipped with scorpion tail actuating mechanism.
Further, central authorities' truck control mechanism includes the truck bottom plate, the truck bottom plate is located a plurality ofly scorpion leg walking unit, a plurality of the unit is got to the scorpion forceps holder and the one end bottom surface of scorpion tail actuating mechanism, it is a plurality of the scorpion leg walking unit, it is a plurality of the unit is got to the scorpion forceps holder and the one end top surface of scorpion tail actuating mechanism is equipped with the truck roof, the top surface middle part of truck bottom plate is equipped with central control PLC board, the top surface of truck roof is close to a plurality of the unit is got to the scorpion forceps holder one end is equipped with infrared night vision camera, the top surface middle part of truck roof is equipped with the sound wave detection mechanism, the top surface middle part of truck roof one side of sound wave detection mechanism is equipped with electrical power generating mechanism.
Furthermore, the sound wave detection mechanism comprises a detector support, wherein an ultrasonic generator is arranged at one end of the upper portion of the detector support, and an ultrasonic receiver is arranged at the other end of the upper portion of the detector support.
Furthermore, the lower ends of the ultrasonic generator and the ultrasonic receiver are higher than the upper end of the infrared night vision camera.
Further, the scorpion leg walking unit comprises a walking double-shaft steering engine, the bottom surface of the walking double-shaft steering engine is arranged on one side of the top surface of the trunk bottom plate, the top surface of the walking double-shaft steering engine is arranged on one side of the bottom surface of the trunk top plate, the two ends of the walking cross-shaped U-shaped connecting piece are respectively arranged at the multiple output ends of the walking double-shaft steering engine, the other two ends of the walking cross-shaped U-shaped connecting piece are respectively arranged at the multiple output ends of the thigh double-shaft steering engine, one end of the thigh double-shaft steering engine is arranged at the other end of the thigh double-shaft steering engine, one end of the calf double-shaft steering engine is arranged at the other end of the thigh double-shaft steering engine, and the two upper ends of the calf double-shaft steering engine are respectively arranged at two sides of the foot of the scorpion.
Furthermore, the lower end of the scorpion feet is provided with walking anti-skid lines.
Further, the unit is got to scorpion forceps holder includes tong arm biax steering wheel, the bottom surface of tong arm biax steering wheel is located top surface one side of truck bottom plate, the top surface of tong arm biax steering wheel is located bottom surface one side of truck roof, the one end both sides of tong arm connecting piece are located respectively to a plurality of outputs of tong arm biax steering wheel, the one end of tong claw mount pad is located to the other end of tong arm connecting piece, the one end of tong claw mount pad is equipped with the short claw, one side of tong claw mount pad is equipped with protects the claw, the other end of tong claw mount pad rotates and connects in the one end of long claw, the middle part of tong claw mount pad is equipped with to press from both sides gets the motor, it connects to press from both sides the motor and get through gear drive the one end of long claw.
Furthermore, one end of the short claw and the other end of the long claw are respectively provided with clamping anti-skid grains.
Further, the scorpion tail actuating mechanism comprises a scorpion tail swing double-shaft steering engine, the bottom surface of the scorpion tail swing double-shaft steering engine is arranged on one side of the top surface of the trunk bottom plate, the top surface of the scorpion tail swing double-shaft steering engine is arranged on one side of the bottom surface of the trunk top plate, a plurality of output ends of the scorpion tail swing double-shaft steering engine are respectively arranged at two ends of the scorpion tail cross-shaped U-shaped connecting piece, the other two ends of the scorpion tail cross-shaped U-shaped connecting piece are respectively arranged at a plurality of output ends of the scorpion tail pitching double-shaft steering engine, the other end of the scorpion tail pitching double-shaft steering engine is arranged at the lower end of the scorpion tail large arm, the middle part of the scorpion tail large arm is rotatably connected to one end of the small arm, the output end of the small arm is rotatably connected to one end of the small arm of the scorpion tail, the other side of the middle part of the small arm of the scorpion tail is rotatably connected to one end of the small arm, the output end of the tail push rod is rotatably connected to the upper part of the scorpion tail actuating unit, and the lower part of the scorpion tail actuating unit is rotatably connected to the other end of the small arm of the scorpion tail.
Furthermore, the scorpion tail execution unit comprises a scorpion tail connecting seat, the upper part of the scorpion tail connecting seat is rotatably connected with the output end of the scorpion tail push rod, the lower part of the scorpion tail connecting seat is rotatably connected with the other end of the small arm of the scorpion tail, the upper part of one side of the scorpion tail connecting seat is provided with a scorpion tail infrared camera, and the lower part of one side of the scorpion tail connecting seat is provided with a fire extinguishing nozzle.
Compared with the prior art, the invention has the beneficial effects that:
the device has small volume, can pass through a rugged road, and can detect a fire source in places where people cannot reach or are difficult to reach or dangerous fire places; the bionic scorpion robot can be controlled by an operator to walk, a camera at the head can transmit real-time images in a 4G picture, the operator can see the road condition in front through a PC (personal computer) end (a mobile phone and a computer end), then the walking direction and speed of the bionic scorpion can be operated, and if the walking direction and speed are obstructed by stones, the bionic scorpion can be bypassed or the stones can be pulled out by using the scorpion clipping unit; through six scorpion leg walking units, each scorpion leg walking unit is provided with 3 steering engines, the total number of the steering engines is 18, a gait algorithm adopts triangular gait, the walking condition on a rugged road is simulated through simulation, and the triangular gait is proved to have strong stability through a large number of experiments and can walk stably on the rugged road; the scorpion tail actuating mechanism has a steering wheel that can 270 degrees rotations in the bottom, carries out the adjustment of afterbody direction according to actual conditions, and the afterbody comprises 2 push rods, can control the push rod and sprinkle to put out small fire source, enlarge with the fire behavior, harm people's property safety.
Drawings
FIG. 1 is a first schematic view of an external structure of the present invention;
FIG. 2 is a schematic view of the external structure of the present invention;
FIG. 3 is a schematic top view of the external structure of the present invention;
FIG. 4 is a schematic view of the central torso control mechanism of the present invention;
FIG. 5 is a schematic front view of the central torso control mechanism of the present invention;
FIG. 6 is a schematic view of the scorpion leg walking unit of the present invention;
FIG. 7 is a schematic top view of the structure of the scorpion gripping unit of the present invention;
FIG. 8 is a schematic view of a scorpion gripping unit according to the present invention;
FIG. 9 is a front view of the scorpion tail actuator
FIG. 10 is a schematic diagram of the scorpion tail actuator structure of the present invention.
In the figure: 1. a central torso control mechanism; 11. a torso base plate; 12. a torso top panel; 13. a central control PLC board; 14. an infrared night vision camera; 15. a sound wave detection mechanism; 151. a detector support; 152. an ultrasonic generator; 153. an ultrasonic receiver; 16. a power supply mechanism; 2. a scorpion leg walking unit; 21. a walking double-shaft steering engine; 22. a walking cross U-shaped connecting piece; 23. a strand double-shaft steering engine; 24. a strand connector; 25. a fibular biaxial steering engine; 26. scorpion feet; 261. walking anti-skid lines; 3. a scorpion clamp taking unit; 31. a clamp arm double-shaft steering engine; 32. a clamp arm connector; 33. a jaw mounting base; 34. a short claw; 341. clamping the anti-skid grains; 35. protecting claws; 36. a long claw; 37. a gripping motor; 4. a scorpion tail actuating mechanism; 41. a scorpion tail swing double-shaft steering engine; 42. a cross U-shaped connector at the tail of the scorpion; 43. a scorpion tail pitching double-shaft steering engine; 44. big arm of scorpion tail; 45. a forearm push rod; 46. small arm of scorpion tail; 47. pushing the scorpion tail; 48. a scorpion tail execution unit; 481. a scorpion tail connecting seat; 482. scorpion tail infrared pick-up head; 483. a fire extinguishing nozzle.
Detailed Description
In order that the invention may be more fully understood, reference will now be made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration, various embodiments of the invention which may be practiced in different forms and not limited to the embodiments described herein, but on the contrary, the embodiments are provided so as to provide a more thorough and complete disclosure of the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present, and when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present, as the terms "vertical", "horizontal", "left", "right" and the like are used herein for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the use of such term knowledge in the specification of the invention is for the purpose of describing particular embodiments and is not intended to be limiting of the invention, and the use of the term "and/or" herein includes any and all combinations of one or more of the associated listed items.
In the embodiment, please refer to fig. 1-3, a scorpion-type bionic robot for exploration includes a central trunk control mechanism 1, a plurality of scorpion leg walking units 2 are symmetrically disposed on two sides of the central trunk control mechanism 1, a scorpion clamping unit 3 is symmetrically disposed on two sides of one end of the central trunk control mechanism 1, and a scorpion tail execution mechanism 4 is disposed on the other end of the central trunk control mechanism 1.
In the embodiment, please refer to fig. 4-5, the central trunk control mechanism 1 includes a trunk bottom plate 11, the trunk bottom plate 11 is disposed on the bottom surfaces of the plurality of scorpion leg walking units 2, the plurality of scorpion forceps holder taking units 3 and the scorpion tail executing mechanism 4, a trunk top plate 12 is disposed on the top surfaces of the plurality of scorpion leg walking units 2, the plurality of scorpion forceps holder taking units 3 and the scorpion tail executing mechanism 4, a central control PLC board 13 is disposed in the middle of the top surface of the trunk bottom plate 11, an infrared camera 14 is disposed on the top surface of the trunk top plate 12 near the end of the plurality of scorpion forceps holder taking units 3, the middle of the top surface of the trunk top plate 12 is provided with an acoustic detection mechanism 15, the middle of the top surface of the trunk top plate 12 and one side of the acoustic detection mechanism 15 are provided with a power supply mechanism 16, the acoustic detection mechanism 15 comprises a detector support 151, one end of the upper part of the detector support 151 is provided with an ultrasonic generator 152, the other end of the upper part of the detector support 151 is provided with an ultrasonic receiver 153, the lower ends of the ultrasonic generator 152 and the ultrasonic receiver 153 are both higher than the upper end of the infrared night vision camera 14, and the design provides a main visual angle for a remote operator through the infrared night vision camera 14; the search and exploration capability is further enhanced by the acoustic detection mechanism 15.
In the embodiment, please refer to fig. 6 with great emphasis, the scorpion leg walking unit 2 includes a walking double-shaft steering engine 21, the bottom surface of the walking double-shaft steering engine 21 is disposed on one side of the top surface of the trunk bottom plate 11, the top surface of the walking double-shaft steering engine 21 is disposed on one side of the bottom surface of the trunk top plate 12, a plurality of output ends of the walking double-shaft steering engine 21 are disposed on two ends of a walking cross-shaped U-shaped connecting piece 22, the other two ends of the walking cross-shaped U-shaped connecting piece 22 are disposed on two ends of a thigh double-shaft steering engine 23, the other end of the thigh double-shaft steering engine 23 is disposed on one end of a thigh connecting piece 24, the other end of the thigh connecting piece 24 is disposed on one end of a calf double-shaft steering engine 25, a plurality of output ends of the calf double-shaft steering engine 25 are disposed on two sides of the upper end of a scorpion foot 26, and the lower end of the scorpion foot 26 is provided with antiskid walking lines 261.
In an embodiment, please refer to fig. 7-8 heavily, the scorpion gripping unit 3 includes a two-axis tong actuator 31, the bottom surface of the two-axis tong actuator 31 is disposed on one side of the top surface of the trunk bottom plate 11, the top surface of the two-axis tong actuator 31 is disposed on one side of the bottom surface of the trunk top plate 12, a plurality of output ends of the two-axis tong actuator 31 are disposed on two sides of one end of a tong arm connector 32, the other end of the tong arm connector 32 is disposed on one end of a tong claw mounting seat 33, one end of the tong claw mounting seat 33 is disposed with a short claw 34, one side of the tong claw mounting seat 33 is disposed with a protective claw 35, the other end of the tong claw mounting seat 33 is rotatably connected to one end of a long claw 36, a gripping motor 37 is disposed in the middle of the tong claw mounting seat 33, the gripping motor 37 is connected to one end of the long claw 36 through gear transmission, one end of the short claw 34 and the other end of the long claw 36 are disposed with gripping antiskid lines 341, and the scorpion gripping unit 3 is designed to achieve taking of task targets.
In the embodiment, please refer to fig. 9-10, the scorpion tail actuator 4 includes a scorpion tail swing double-shaft steering engine 41, the bottom surface of the scorpion tail swing double-shaft steering engine 41 is disposed on one side of the top surface of the trunk bottom plate 11, the top surface of the scorpion tail swing double-shaft steering engine 41 is disposed on one side of the bottom surface of the trunk top plate 12, a plurality of output ends of the scorpion tail swing double-shaft steering engine 41 are respectively disposed at two ends of a scorpion tail cross U-shaped connecting member 42, the other two ends of the scorpion tail cross U-shaped connecting member 42 are respectively disposed at a plurality of output ends of a scorpion tail pitching double-shaft steering engine 43, the other end of the scorpion tail pitching double-shaft steering engine 43 is disposed at the lower end of a scorpion tail large arm 44, the middle portion of the scorpion tail large arm 44 is rotatably connected to one end of a small arm push rod 45, the output end of the small arm push rod 45 is rotatably connected to one end of a scorpion tail small arm 46, one side of the middle portion of the scorpion tail small arm 46 is rotatably connected to the upper end of the scorpion tail large arm 44, the other side of the middle part of the small scorpion tail arm 46 is rotatably connected with one end of a small scorpion tail push rod 47, the output end of the small scorpion tail push rod 47 is rotatably connected with the upper part of a scorpion tail execution unit 48, the lower part of the small scorpion tail execution unit 48 is rotatably connected with the other end of the small scorpion tail arm 46, the small scorpion tail execution unit 48 comprises a scorpion tail connecting seat 481, the upper part of the scorpion tail connecting seat 481 is rotatably connected with the output end of the small scorpion tail push rod 47, the lower part of the scorpion tail connecting seat 481 is rotatably connected with the other end of the small scorpion tail arm 46, the upper part of one side of the scorpion tail connecting seat 481 is provided with a scorpion tail infrared camera 482, and the lower part of one side of the scorpion tail connecting seat 481 is provided with a fire extinguishing nozzle 483, so that the design transmits more accurate image data to remote operators through the scorpion tail infrared camera 482 on the small scorpion tail execution unit 48; the source is sprayed with water through the extinguishing nozzle 483 to extinguish a fire.
The operation principle is as follows: firstly, the equipment is controlled to walk remotely according to the requirement of executing a task, and a main visual angle is provided for a remote operator through the infrared night vision camera 14; the searching and exploring capabilities are further improved through the acoustic detection mechanism 15; compared with a crawler movement mode, the flexibility and maneuverability of walking are greatly improved by matching the plurality of scorpion leg walking units 2 with a scorpion walking simulation mode; after the target position is reached, the task target is taken through the scorpion clamp taking unit 3, or the barrier on the traveling path is moved away, and finally the fire extinguishing spray head 483 is controlled through the scorpion tail execution mechanism 4 to spray water to extinguish the fire of the goods source.
It should be noted that the present invention has the following two operation modes:
firstly, in a remote control mode, a common wifi camera is installed in the middle of the head, real-time images are transmitted in the images, a person sees the road condition in the front through a PC end, then the walking direction of the six-footed scorpions is operated through Bluetooth, if the six-footed scorpions stop the road, the person can bypass or use pliers to pull the stones apart, a steering engine capable of rotating at 270 degrees is installed at the tail, an OPENCV camera is installed on the steering engine, the camera can return infrared thermal imaging data to identify objects needing rescue, the six-footed scorpions can work at night and in the daytime, a GPS module is installed on the belly, and the person can obtain the positions of the six-footed scorpions through the PC end;
the second, freely look for the mode, on original module basis, 2 sides of head add ultrasonic sensor, even also can independently keep away the barrier night like this, the afterbody can 270 degrees rotatory steering wheel slowly last operations, OPENCV camera real-time work, if discern the object that needs the rescue, can be to people's early warning to send real-time position.
In conclusion, the scorpion can walk with six feet to complete the basic task of grabbing, can independently advance for a long distance, feel obstacles and advance by detour, and the accuracy of judging the obstacles is improved; on one hand, bionics is achieved, on the other hand, some work which cannot be completed or is inconvenient to complete by human can be completed, and the specific functions of the bionic robot are utilized to help human; the device has flexible movement, strong adaptive movement capability to complex terrain and wide application prospect; the device can be used for dangerous environments such as exploration, reconnaissance and the like, for example: the corresponding equipment is matched, and the device can detect and eliminate dangerous objects such as land mines, bombs and the like; the device can also be used as a reconnaissance device to submerge into an enemy area, collect information, reconnaissance landform and enemy, and has very important significance for improving the fighting efficiency, reducing casualties and reducing political sensitivity in a future amphibious battlefield.
The invention is described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the above-described embodiments, and it is within the scope of the invention to adopt such insubstantial modifications of the inventive method concept and solution, or to apply the inventive concept and solution directly to other applications without modification.

Claims (10)

1. A scorpion type bionic robot for exploration is characterized in that: including central trunk control mechanism (1), the bilateral symmetry of central trunk control mechanism (1) is equipped with a plurality of scorpion leg walking unit (2), the one end bilateral symmetry of central trunk control mechanism (1) is equipped with the scorpion pincers and gets unit (3), the other end of central trunk control mechanism (1) is equipped with scorpion tail actuating mechanism (4).
2. The scorpion-type bionic robot for exploration according to claim 1, wherein: central authorities truck control mechanism (1) is including truck bottom plate (11), truck bottom plate (11) are located a plurality ofly scorpion leg walking unit (2), a plurality of the one end bottom surface that unit (3) and scorpion tail actuating mechanism (4) were got to the scorpion clamp, it is a plurality of scorpion leg walking unit (2), a plurality of the one end top surface that unit (3) and scorpion tail actuating mechanism (4) were got to the scorpion clamp is equipped with truck roof (12), the top surface middle part of truck bottom plate (11) is equipped with central control PLC board (13), the top surface of truck roof (12) is close to a plurality of the one end that unit (3) were got to the scorpion clamp is equipped with infrared night vision camera (14), the top surface middle part of truck roof (12) is equipped with sound wave detection mechanism (15), the top surface middle part of truck roof (12) one side of sound wave detection mechanism (15) is equipped with power supply mechanism (16).
3. The scorpion-type bionic robot for exploration according to claim 2, wherein: the sound wave detection mechanism (15) comprises a detector support (151), an ultrasonic generator (152) is arranged at one end of the upper portion of the detector support (151), and an ultrasonic receiver (153) is arranged at the other end of the upper portion of the detector support (151).
4. The scorpion-type bionic robot for exploration according to claim 3, wherein: the lower ends of the ultrasonic generator (152) and the ultrasonic receiver (153) are higher than the upper end of the infrared night vision camera (14).
5. The scorpion-type bionic robot for exploration according to claim 2, wherein: the scorpion leg walking unit (2) comprises a walking double-shaft steering engine (21), the bottom surface of the walking double-shaft steering engine (21) is arranged on one side of the top surface of a trunk bottom plate (11), the top surface of the walking double-shaft steering engine (21) is arranged on one side of the bottom surface of a trunk top plate (12), a plurality of output ends of the walking double-shaft steering engine (21) are respectively arranged at two ends of a walking cross U-shaped connecting piece (22), a plurality of output ends of a thigh double-shaft steering engine (23) are respectively arranged at the other two ends of the walking cross U-shaped connecting piece (22), one end of a thigh connecting piece (24) is arranged at the other end of the thigh connecting piece (24), one end of a calf double-shaft steering engine (25) is arranged at the other end of the calf double-shaft steering engine (25), and the output ends of the calf double-shaft steering engine (25) are respectively arranged at two sides of the upper end of a scorpion foot (26).
6. The scorpion-type bionic robot for exploration according to claim 5, wherein: the lower end of the scorpion feet (26) is provided with walking anti-skid lines (261).
7. The scorpion-type bionic robot for exploration according to claim 2, wherein: unit (3) is got to scorpion tong pincers includes tong arm biax steering wheel (31), the bottom surface of tong arm biax steering wheel (31) is located top surface one side of truck bottom plate (11), the top surface of tong arm biax steering wheel (31) is located bottom surface one side of truck roof (12), the one end both sides of tong arm connecting piece (32) are located respectively to a plurality of outputs of tong arm biax steering wheel (31), the one end of tong arm mount pad (33) is located to the other end of tong arm connecting piece (32), the one end of tong arm mount pad (33) is equipped with short claw (34), one side of tong arm mount pad (33) is equipped with protects claw (35), the other end of tong arm mount pad (33) rotates the one end of connecting in long claw (36), the middle part of tong arm mount pad (33) is equipped with motor (37), press from both sides and get motor (37) and connect through gear drive the one end of long claw (36).
8. The scorpion-type bionic robot for exploration according to claim 7, wherein: one end of the short claw (34) and the other end of the long claw (36) are respectively provided with clamping anti-slip lines (341).
9. The scorpion-type bionic robot for exploration according to claim 2, wherein: the scorpion tail actuating mechanism (4) comprises a scorpion tail swing double-shaft steering engine (41), the bottom surface of the scorpion tail swing double-shaft steering engine (41) is arranged on one side of the top surface of the trunk bottom plate (11), the top surface of the scorpion tail swing double-shaft steering engine (41) is arranged on one side of the bottom surface of the trunk top plate (12), a plurality of output ends of the scorpion tail swing double-shaft steering engine (41) are respectively arranged at two ends of a scorpion tail cross U-shaped connecting piece (42), the other two ends of the scorpion tail cross U-shaped connecting piece (42) are respectively arranged at a plurality of output ends of a scorpion tail pitching double-shaft steering engine (43), the other end of the scorpion tail pitching double-shaft steering engine (43) is arranged at the lower end of a scorpion tail large arm (44), the middle part of the scorpion tail large arm (44) is rotatably connected to one end of a small arm push rod (45), the output end of the small arm push rod (45) is rotatably connected to one end of a small scorpion tail arm (46), one side of the small tail arm (46) is rotatably connected to the upper end of the large arm (44), the other side of the small arm (46) is rotatably connected to the other end of the small arm (47), and the small tail actuating unit (48) is connected to the other end of the small arm (47) of the scorpion tail swing of the scorpion tail actuating unit (48).
10. The scorpion-type bionic robot for exploration according to claim 9, wherein: the scorpion tail execution unit (48) comprises a scorpion tail connecting seat (481), the upper part of the scorpion tail connecting seat (481) is rotatably connected with the output end of the scorpion tail push rod (47), the lower part of the scorpion tail connecting seat (481) is rotatably connected with the other end of the scorpion tail small arm (46), a scorpion tail infrared camera (482) is arranged at the upper part of one side of the scorpion tail connecting seat (481), and a fire extinguishing nozzle (483) is arranged at the lower part of one side of the scorpion tail connecting seat (481).
CN202210783405.1A 2022-07-05 2022-07-05 Scorpion-shaped bionic robot for exploration Pending CN115213913A (en)

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Application Number Priority Date Filing Date Title
CN202210783405.1A CN115213913A (en) 2022-07-05 2022-07-05 Scorpion-shaped bionic robot for exploration

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210783405.1A CN115213913A (en) 2022-07-05 2022-07-05 Scorpion-shaped bionic robot for exploration

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Publication Number Publication Date
CN115213913A true CN115213913A (en) 2022-10-21

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210783405.1A Pending CN115213913A (en) 2022-07-05 2022-07-05 Scorpion-shaped bionic robot for exploration

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CN (1) CN115213913A (en)

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